CN105466444A - Method for obtaining interest point and automobile relative height in automobile augmented reality - Google Patents
Method for obtaining interest point and automobile relative height in automobile augmented reality Download PDFInfo
- Publication number
- CN105466444A CN105466444A CN201511030032.7A CN201511030032A CN105466444A CN 105466444 A CN105466444 A CN 105466444A CN 201511030032 A CN201511030032 A CN 201511030032A CN 105466444 A CN105466444 A CN 105466444A
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- Prior art keywords
- automobile
- point
- road
- relative height
- interest
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
Abstract
The invention relates to the field of automobile augmented reality, in particular to a method for obtaining an interest point and automobile relative height in automobile augmented reality. The method comprises the steps that a current position of an automobile and the position of the interest point are projected on a map road through a GPS and map software; the projection path of the current position of the automobile projected to the interest point is calculated by means of a map navigation system, and the path comprises at least one road section. The relative heights delta h<i> of the road sections contained in the path are calculated, and the relative height delta H of the interest point and the automobile is calculated according to the formula shown in the specification, wherein i and n are both positive integers.
Description
Technical field
The present invention relates to automobile augmented reality field, particularly a kind of method obtaining point of interest and automobile relative height.
Background technology
Augmented reality is a kind of by real world information and the integrated new technology of virtual world information " seamless ", the entity information (visual information being originally difficult to experience in the certain hour spatial dimension of real world, sound, taste, sense of touch etc.), by science and technology such as computers, superpose again after analog simulation, by virtual Information application to real world, by the perception of human sensory institute, thus reach the sensory experience of exceeding reality.Be added in real time same picture or space of real world and virtual information exists simultaneously.
Augmented reality is applied to automotive field can provide for driver the virtual information being superimposed upon real scene.Because real scene and automobile are all in three-dimensional system of coordinate, closely be superimposed to allow dummy object and real scene, need to obtain the height of real scene and the elevation information of automobile, avoid dummy object cannot keep fixing relative position with real scene.
Summary of the invention
The present invention proposes a kind of method obtaining automobile and real world object relative height by existing map datum.
The invention provides a kind of method obtaining point of interest and automobile relative height in automobile augmented reality, described method comprises: utilize GPS and map software to be projected on map road by the position of current car position and point of interest; Calculate by map navigation system the path that current car position projects to point of interest projection, this path comprises at least one road segment segment.Calculate the relative height Δ h of the road segment segment that described path comprises
i.The relative height Δ H of described point of interest and automobile is calculated according to following formula:
wherein i and n is positive integer.
According to one embodiment of present invention, calculate the relative height of the road segment segment that described path comprises according to following method: the grade information Si calculating each collection point in road segment segment described in every bar according to digital elevation model and high precision Gradient, and obtain the relative height Δ h of adjacent collection point in conjunction with the distance Di between adjacent collection point
i, calculate Δ h according to following formula
i:
Further, GPS locating device is utilized to obtain the latitude and longitude information of current car position, to realize utilizing GPS and map software by current car position shadow on map road.
As can be seen here, method of the present invention can obtain the relative height of automobile and real world object point of interest by existing map datum.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention calculates automobile and point of interest relative height.
Fig. 2 is that the present invention utilizes high precision grade information mode to obtain the schematic diagram of road grade information.
Fig. 3 utilizes digital elevation model to obtain the schematic diagram of road grade information in the present invention.
Fig. 4 is that in the present invention, current car position projection is projected on same path with point of interest, the schematic diagram of both calculating difference in height.
Fig. 5 is that in the present invention, current car position projection projects not on same path with point of interest, the schematic diagram of both calculating difference in height.
Reference numeral
10 – ground surface objects of reference
11-automobile
12-point of interest
13 – point of interest projections
The acclive road of 14 –
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, the present invention is described in more detail by the following examples, but protection scope of the present invention is not limited to described embodiment.
As shown in Figure 1, for the present invention calculates the schematic diagram of automobile and point of interest relative height.Scene of the present invention is show virtual icon above point of interest 12, and virtual icon comprises the details of place point of interest 12, and point of interest 12 can be restaurant, fitness center or a shopping center etc.Virtual icon will be superimposed upon in real scene, if using ground surface as object of reference, so point of interest 12 and ground surface object of reference 10 can keep constant relative height H
pOI.When automobile 11 travels on acclive road 14, the height H of automobile 11 self
carchange, but the height H of point of interest 12
pOIbut be constant, can not change because of the gradient, therefore the virtual icon of point of interest 12 and the relative height Δ H of current car position are also changes.The present invention calculates Δ H in the following manner.
The present invention utilizes vehicle-mounted GPS positioning system to obtain the current latitude and longitude information of automobile 11, utilizes map match principle the latitude and longitude coordinates of the latitude and longitude coordinates of automobile 11 and point of interest 12 to be projected on map road.Calculate current car position to the path of point of interest by map navigation system afterwards, a more than paths may be comprised.Due to the restriction of national policy, map software supplier cannot provide accurate road height information, but can provide the high precision grade information of road, but and the road of not all has these high precision grade informations.When driver is selected from current car position to point of interest after one paths, and the road segment segment on this paths is when all possessing grade information, the Gradient of all collections in these road segment segment and range data just can be utilized to obtain the relative height Δ H between current car position and point of interest.
Fig. 2 is that the present invention utilizes high precision grade information mode to obtain the schematic diagram of road grade information.Current car position projects in road segment segment 1, and map navigation system can get the grade information of road segment segment 1.The position of point of interest 12 also projects in a road segment segment, because the projection of current car position and point of interest 12 is not necessarily in a road segment segment, so Fig. 2 only illustrates the two situation on a road, in Fig. 2 point of interest 12 position projection road segment segment 1 on obtain the point of interest 13 that projects.But point of interest 12 does not project on road sometimes, that is road information is not had, at this moment only point of interest 12 need be projected to and (represent with road segment segment m here) on its nearest road, so map navigation system can get the grade information of road segment segment m.In this case road segment segment m and road segment segment 1 not necessarily same path section.Map navigation system only needs to calculate automobile Current projection position and the projected position of point of interest or the path nearby between projected position, certainly mulitpath may be there is, after driver chooses wherein a paths or map navigation system to advise an optimal path, map navigation system just can utilize high precision grade information mode to obtain the grade information of this paths.
Because high precision Gradient is not present in every bar road, if this paths of choosing of driver or map navigation system advise that optimal path does not have Gradient, then digital elevation model can be utilized to estimate the gradient.Digital elevation model (DigitalElevationModel), vehicle economy M, it is a kind of actual ground model representing ground elevation by one group of orderly array of values form, and the resolution of DEM refers to the length of the cell that DEM is minimum.Because DEM is discrete data, so (X, Y) coordinate is all lattice one by one in fact, each lattice identifies its elevation.Interpolation can obtain the elevation of node according to the latitude and longitude coordinates of road node, then the two subtracts the relative height that can obtain road two node.Be illustrated in figure 3 in the present invention the schematic diagram utilizing digital elevation model to obtain road grade information.When map navigation system only has one according to automobile Current projection position and point of interest projected position or the point of interest path that projected position obtains nearby and this path does not have a grade information, or when that paths that driver chooses or map navigation system advise that optimal path does not have a Gradient, then utilize digital elevation model to calculate the gradient of this paths.Such as, in Fig. 3, map navigation system can provide the longitude and latitude of projected position P and four summit A of place grid thereof, the longitude and latitude of B, C, D and elevation information, utilizes the elevation information H obtaining P point to interpolation value method
p.
Fig. 4 is that in the present invention, current car position projection is projected on same path with point of interest, the schematic diagram of both calculating difference in height.Map software supplier usually can every a segment distance (such as about 5m on map road; concrete numeral is provided by map software supplier) have the collection point of a gradient; as shown in gray circles in figure; range difference D1 between every two collection points; D2 etc. are also provided by map software supplier; distance such as between first collection point and second collection point is D1, and the distance between second collection point and the 3rd collection point is D2 etc., by that analogy.The gradient of setting first collection point is S1, so relative height Δ h of first collection point and second collection point
1computing method be: Δ h
1=S1 × D1.The relative height Δ h of all adjacent collection points of calculated for subsequent successively
n, the then cumulative relative height obtaining entirety
wherein i and n is positive integer.
Fig. 5 is that in the present invention, current car position projection projects not on same path with point of interest, the schematic diagram of both calculating difference in height.If there are many road segment segment in the path that map navigation system obtains, and every bar road segment segment has grade information, then according to calculating the method for single road segment segment described in Fig. 4 to calculate the relative height of each road segment segment, then the cumulative relative height obtaining entirety, i.e. three road segment segment as shown in FIG., the relative height summation Δ H=Δ H of road segment segment 1, road segment segment 2 and road segment segment 3
1+ Δ H
2+ Δ H
3.
If the path that map navigation system obtains has many road segment segment and each road segment segment does not have grade information, then according to the grade information utilizing digital elevation model to obtain every bar road shown in Fig. 3, then according to Fig. 5, the superposition of the elevation information of these roads will be obtained relative height Δ H.
If if the path calculated has many road segment segment and segment path section has grade information, segment path section does not have grade information, then calculate as follows.For the road segment segment having grade information, according to utilizing high precision grade information mode to obtain road grade information shown in Fig. 2, then according to Fig. 5, the elevation information of these roads is superposed; For the road segment segment not having grade information, then according to the grade information utilizing digital elevation model to obtain every bar road shown in Fig. 3, then according to Fig. 5, the elevation information of these roads is superposed.Finally by having the road segment segment relative height of grade information and adding up without the elevation information of the road segment segment of grade information, obtain relative height Δ H.
If by automobile height H
carbe set to constant null value, relative height Δ H is the height of point of interest.The dummy object that now point of interest is correlated with can be presented at height correct in map according to relative height Δ H.
The present invention relates to automobile augmented reality field, particularly a kind of method obtaining point of interest and automobile relative height.Described method comprises: utilize GPS and map software to be projected on map road by the position of current car position and point of interest; Calculate by map navigation system the path that current car position projects to point of interest projection, this path comprises at least one road segment segment.Calculate the relative height Δ h of the road segment segment that described path comprises
i.The relative height Δ H of described point of interest and automobile is calculated according to following formula:
wherein i and n is positive integer.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. in automobile augmented reality, obtain a method for point of interest and automobile relative height, it is characterized in that, described method comprises:
GPS and map software is utilized to be projected on map road by the position of current car position and point of interest;
Calculate by map navigation system the path that current car position projects to point of interest projection, this path comprises at least one road segment segment;
Calculate the relative height Δ h of the road segment segment that described path comprises
t;
The relative height Δ H of described point of interest and automobile is calculated according to following formula:
Wherein i and n is positive integer.
2. method according to claim 1, is characterized in that, calculates the relative height of the road segment segment that described path comprises according to following method:
Calculate the grade information Si of each collection point in road segment segment described in every bar according to digital elevation model and high precision Gradient, and obtain the relative height Δ h of adjacent collection point in conjunction with the distance Di between adjacent collection point
t, calculate Δ h according to following formula
t:
Δh
t＝S
t×D
t。
3. method according to claim 1, is characterized in that, further,
GPS locating device is utilized to obtain the latitude and longitude information of current car position, to realize utilizing GPS and map software by current car position shadow on map road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511030032.7A CN105466444A (en) | 2015-12-31 | 2015-12-31 | Method for obtaining interest point and automobile relative height in automobile augmented reality |
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|---|---|---|---|
| CN201511030032.7A CN105466444A (en) | 2015-12-31 | 2015-12-31 | Method for obtaining interest point and automobile relative height in automobile augmented reality |
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| CN105466444A true CN105466444A (en) | 2016-04-06 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663014A (en) * | 2018-03-30 | 2018-10-16 | 中国水利水电科学研究院 | A kind of furrow farming sloping upland field relative elevation method for computing data |
| US10282915B1 (en) | 2017-12-27 | 2019-05-07 | Industrial Technology Research Institute | Superimposition device of virtual guiding indication and reality image and the superimposition method thereof |
| CN111442784A (en) * | 2020-04-03 | 2020-07-24 | 北京四维智联科技有限公司 | Road guiding method, device and equipment based on AR navigation |
| CN111721262A (en) * | 2020-07-10 | 2020-09-29 | 中国科学院武汉岩土力学研究所 | Automatic guiding method for total station tracking in field elevation measurement |
-
2015
- 2015-12-31 CN CN201511030032.7A patent/CN105466444A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10282915B1 (en) | 2017-12-27 | 2019-05-07 | Industrial Technology Research Institute | Superimposition device of virtual guiding indication and reality image and the superimposition method thereof |
| CN108663014A (en) * | 2018-03-30 | 2018-10-16 | 中国水利水电科学研究院 | A kind of furrow farming sloping upland field relative elevation method for computing data |
| CN108663014B (en) * | 2018-03-30 | 2019-07-30 | 中国水利水电科学研究院 | A kind of furrow farming sloping upland field relative elevation method for computing data |
| CN111442784A (en) * | 2020-04-03 | 2020-07-24 | 北京四维智联科技有限公司 | Road guiding method, device and equipment based on AR navigation |
| CN111721262A (en) * | 2020-07-10 | 2020-09-29 | 中国科学院武汉岩土力学研究所 | Automatic guiding method for total station tracking in field elevation measurement |
| CN111721262B (en) * | 2020-07-10 | 2021-06-11 | 中国科学院武汉岩土力学研究所 | Automatic guiding method for total station tracking in field elevation measurement |
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